While rice and tofu are cooking, prepare sauce by adding all ingredients to a medium-size mixing bowl and whisking to combine. Taste and adjust flavor as needed, adding more tamari or soy for saltiness, peanut butter for creaminess, brown sugar for sweetness, or chili garlic sauce for heat.

Once the tofu is done baking, add directly to the sauce and marinate for 5 minutes, stirring occasionally.

Heat sesame oil in a large pan over medium heat. Add garlic and yellow onions. Saute until translucent.